From 9e624ee0f8c0840f810d369956bc71d7e158028d Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 9 Jan 2007 12:56:03 +0000
Subject: [PATCH] Fixed race: Stop EoE processing when entering or leaving
operation mode.
---
master/master.c | 20 ++++++++++++--------
1 file changed, 12 insertions(+), 8 deletions(-)
diff --git a/master/master.c b/master/master.c
index 2e271917..82bc6c57 100644
--- a/master/master.c
+++ b/master/master.c
@@ -393,6 +393,9 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
ec_slave_t *slave;
ec_datagram_t *datagram = &master->fsm.datagram;
+ ec_master_eoe_stop(master); // stop EoE timer
+ master->eoe_checked = 0; // prevent from starting again by FSM
+
master->mode = EC_MASTER_MODE_OPERATION;
while (!cancel_delayed_work(&master->idle_work)) {
flush_workqueue(master->workqueue);
@@ -429,6 +432,8 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
}
}
+ master->eoe_checked = 1; // allow starting EoE again
+
return 0;
out_idle:
@@ -449,6 +454,9 @@ void ec_master_leave_operation_mode(ec_master_t *master
ec_fsm_t *fsm = &master->fsm;
ec_datagram_t *datagram = &master->fsm.datagram;
+ ec_master_eoe_stop(master); // stop EoE timer
+ master->eoe_checked = 0; // prevent from starting again by FSM
+
// wait for FSM datagram
if (datagram->state == EC_DATAGRAM_SENT) {
// active waiting
@@ -486,6 +494,8 @@ void ec_master_leave_operation_mode(ec_master_t *master
master->release_cb = ec_master_release_cb;
master->cb_data = master;
+ master->eoe_checked = 0; // allow EoE again
+
master->mode = EC_MASTER_MODE_IDLE;
queue_delayed_work(master->workqueue, &master->idle_work, 1);
}
@@ -766,6 +776,8 @@ void ec_master_idle_run(void *data /**< master pointer */)
ec_master_t *master = (ec_master_t *) data;
cycles_t cycles_start, cycles_end;
+ if (master->mode != EC_MASTER_MODE_IDLE) return;
+
cycles_start = get_cycles();
// receive
@@ -1037,14 +1049,6 @@ void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
master->eoe_checked = 1;
- // if the locking callbacks are not set in operation mode,
- // the EoE timer my not be started.
- if (master->mode == EC_MASTER_MODE_OPERATION
- && (!master->request_cb || !master->release_cb)) {
- EC_INFO("No EoE processing because of missing locking callbacks.\n");
- return;
- }
-
// decouple all EoE handlers
list_for_each_entry(eoe, &master->eoe_handlers, list)
eoe->slave = NULL;
--
GitLab